Stepnet. Module. Provides Mounting & Connections for Stepnet Module CANopen Stepping Motor Driver DEVELOPMENT KIT
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1 Provides Mounting & onnections for Nopen Stepping Driver FETURES Develop & Debug projects then transfer design to OEM pc board. MODEL DRIVER Ic Ip VD TDK-0-0 STM-0-0 DESRIPTION The Development Kit is a companion product to opley ontrols new stepping motor driver. It provides mechanical mounting and electrical connections for the driver so users can quickly connect and begin to develop applications. Euro style screw-terminal connector blocks simplify connections for power and motor phase-windings. Sub-D connectors have compatible pinouts with ccelus and ccelnet panel amplifiers for command, I/O and optional motor encoder signals. -position rotary switch connects to I/O pins for selection of the N bus device address. Individual toggle switches are wired to other I/O pins to simulate limit switches, motor overtemperature sensor, and home switch functions. Jumpers permit these switches to be disconnected so that the I/O pins can connect to user equipment through the Sub-D connectors. Ω resistor can be jumpered in or out as a terminator for the N bus signals if the development kit is the last device on a N bus. Four LED s can be jumpered in or out to the logic outputs. These give an easy read-out of the output status for debugging. encoder signals are connected through from the motor connector to the signal connector eliminating split cables in cases where the is operating as a stand-alone servo-motor control. In these cases, the external controller uses the encoder for position feedback, and operates the stepping motor as a D brushless motor. Tech Support: sales@copleycontrols.com, Internet: Page of
2 RS- ONNETION The RS- port is used to configure for stand-alone applications, or for configuration before it is installed into a Nopen network. ME software communicates with over this link and is then used for complete amplifier setup. The N address that is set by the rotary switch can be monitored, and an address offset programmed as well. This will add to the switch address to produce a working N address that can be from to. The RS- connector, J, is a modular type that uses a -position plug, four wires of which are used for RS-. connector kit is available (SER-K) that includes the modular cable, and an adaptor to interface this cable with a -pin RS- port on a computer. N ONNETORS onnectors J & J are Sub-D male and female -position types that conform to the N DS-0 Physical Layer specification. The male-female configuration supports a single cable type with male and female connectors that can be daisy-chained from device to device along a Nopen network. uses only the N_H, N_L, and N_GND signals. The N_GND is connected to the circuit ground on the development kit. This ground is also shared by the amplifier power supply, accessory +V (for encoders), and the RS- link. Other DS-0 signals are wired-through for use by products that might support them. The table below lists the signals and pins on J & J. s in ( ) are those that have no connection on the development kit and which are connected pin-to-pin between J & J. N us onnector s (Reserved) N_ L N_GND (Reserved) (N_SHLD) N_GND N_ H (Reserved) (N_V+) J J JP NL NH Important! Install JP ONLY if development kit is the LST node on a N bus N DDRESS SELETION Rotary switch SW, labeled N DDR connects to IN, IN, IN, and IN0 of the amplifier. These are programmable inputs which default to N address bits. The switch will select N addresses 0x0~0x0F (dec ~). ddress 0 is reserved for network management devices. The N standard permits up to devices, so if the amplifier must have a address beyond 0x0F(dec ), this is done by programming an address offset into the amplifier before it is installed into a N environment or by programming logic inputs as N address bits. See the datasheet for more details on N address setup. N ddress Switch SW D E F J JP D E JP-D JP-E JP-E JP- [IN] [IN] [IN] Pulse [IN0] Direction Logic Inputs Note: To use inputs,,, or 0 as logic inputs remove jumpers on JP and insert jumpers on JP, JP & JP as shown at left. Inputs [IN,0] are digital reference inputs for use when amplifier is used in stand-alone mode. Tech Support: sales@copleycontrols.com, Internet: Page of
3 LOGI INPUTS has twelve logic inputs. [IN] is dedicated to the amplifier enable function, the other inputs are programmable. The chart below shows the placement of jumpers to connect logic inputs to switches on the development kit, or to external signals via signal connector J: J SWITH POLRITY LO HI JP JP JP-E JP- JP-D JP- JP- JP D E DOUT DOUT DOUT DOUT D E JP SW SW SW SW SW D [OUT] [OUT] [OUT] [OUT] [IN] [IN] [IN] [IN] [IN] JP [IN] SW Logic Input IN0 IN0 IN0 IN0 LOGI OUTPUTS has four logic outputs that can drive controller logic inputs or relays. If relays are driven, then flyback diodes must be connected across their terminals to clamp overvoltages that occur when the inductance of the relay coil is suddenly turned off. s delivered, these outputs drive four LED s. Jumpers JP-,,D, & E connect these LED s to logic outputs. These are N-channel MOSFET s which sink current from loads connected to positive voltages. When the outputs are ON (ctive Low), they ground the cathode of the led s which then turn on as they are connected to the +Vdc supply via currentlimiting resistors. The logic outputs also connect to signal connector J. If they are used to drive external loads >+Vdc, the LED jumpers must be removed. Default Function Enable SW Fwd Enable SW Rev Enable SW Home SW On-oard onnection JP- J- External onnection JP- J- JP- J- JP-D J- JP-E JP- JP-D JP- IN0 Motemp SW JP- J- J- JP-D JP-E IN IN IN IN IN IN IN0 IN SW EN X JP-E JP- J- JP- JP-D IN0 IN SW- IN0 IN SW- JP- J- JP- J- JP-E IN0 Step SW- JP-D J- JP-E IN0 Direction SW- JP-E J- JP- IN IN EN JP- J- JP- IN IN EN JP- J-0 JP- Tech Support: sales@copleycontrols.com, Internet: Page of
4 ENODER ONNETIONS The development kit has a differential line receiver for the motor encoder inputs. Differential-output encoders are preferred for best signal quality and noise rejection. Wiring should be twisted-pairs, preferably with a shield for each pair. To eliminate noise on the encoder signals caused by reflections on the cables, it is good practice to terminate signal-pairs with a resistor that matches the characteristic impedance of the cable. On the development kit,ω resistors are provided for this purpose. Jumpers at JP-,, and connect these termination resistors across the differential signals when installed. If single-ended encoders are used, they should be connected to the,, and X pins leaving the /, /, and /X pins open and jumpers at JP-,, and should be removed. pf k /X / / JP ENODER Differential Line Reciever INPUTS J X POWER SUPPLIES +HV mplifier main power, +HV, is typically supplied by unregulated D power supplies. These must be isolated from the mains, and all circuits should be grounded to earth at some point. The +HV supply connects to J. Pin J- is the +HV positive terminal, and pin J- is the power supply negative terminal that connects to circuit ground. For good wiring practice, the +HV wires should be twisted together for noise suppression, and the power supply should not be grounded. Doing this ensures that the higher currents flowing in these conductors will not flow through any circuit grounds where they might induce noise. During deceleration, mechanical energy in the motor and load is converted back into electrical energy that must be dissipated as the motor comes to a stop. While some of this is converted to heat in the motor windings, the rest of it will flow through the amplifier into the power supply. n external storage capacitor should be used if the load has appreciable inertia, and this should be sized such that adding the undissipated energy from the motor will not raise the voltage beyond the point at which the OUTPUTS X JP- 0 J JP- JP JP- [IN] [IN] [IN] amplifier shuts down. When this is not possible, an external dumper, or regenerative energy dissipater must be used which acts as a shunt regulator across the +HV and terminals. Switching Power Supplies Switching power supplies can also be used to power. Unlike unregulated supplies, these cannot accept reverse energy flow, so an isolating diode must be placed between the power supply and J- to block current flow back into the power supply. When this is done, an external storage capacitor must be used across J- & J- because the capacitor on the Development Kit board is only for ripple-current control, and can t store enough energy to handle regeneration. Grounding n earthing ground connection can be made via a second conductor to J- that connects to the equipment frame ground. Encoder + Vdc Encoder power is supplied from an external + Vdc supply with sufficient current to drive the motor encoder. Typically these will be 0 m or less. In cases where an encoder uses a separate interpolater module to process the data, current demand may be higher. onsult the motor encoder literature to be sure that the +Vdc supply can handle the encoder power requirements. ux HV Not required for stand-alone operation, an ux HV power supply provides power for the drive control circuits so that N bus communications with the drive can be maintained when the +HV supply is turned off. This might occur as a result of an Emergency Off condition, or for machine operator intervention. The ux HV supply does not power the PWM stage that drives the motor, but keeps the drive controller enabled as well as inputs and outputs. The ux HV supply must be less than the +HV supply voltage and greater than the drive minimum +HV ( > 0 Vdc). Tech Support: sales@copleycontrols.com, Internet: Page of
5 ONNETIONS RS- signals connect to both J & J. Only one external connection can be active at a time RS- DTE RxD TxD P Serial Port D-Sub -pos Male ontroller Digital I/O EN h. EN h. U D ontroller RS- I/O D-Sub -pos Female mpenable Step Direction Inputs [IN] through [IN] have programmable functions in addition to those shown here TxD RxD Modular Jack RJ- P Sub-D to RJ- dapter Serial able Kit PosLim NegLim Yellow Red lack Modular able [IN] Enable Input [IN] Fwd Enable [IN] Rev Enable 0 0 Ground [IN] Home [IN] Motemp [IN] HS Input [IN] HS Input [IN] HS Input [IN] HS Input [IN0] HS Input [IN] HS Input [IN] HS Input Fault [OUT] [OUT] [OUT] TxD RxD RJ- J J +V Output RxD TxD J J Enc Enc / Enc Enc / Enc X Enc /X /Motemp [IN] /rake [OUT] +V Input HV Input No onnect + Vdc Output 0 J ux HV - ircuit +V / / X /X + V Earth ENODER To encoder RKE / / Fuse Required for encoder and LED's + V (Optional) MOTOR + - D Power Notes:. N connectors J & J are not shown here. For details see pp.,, &. Tech Support: sales@copleycontrols.com, Internet: Page of
6 ONNETOR LYOUT Nopen Pin ( Reserved) N_L N_GND ( Reserved) ( N_SHLD) J + V Input ux HV J J J + HV Input GND + Output - Output + Output - Output J J J Encoder / Input Encoder / Input Encoder /X Input Ground + V Output Ground 0 Temp Sensor [IN] J Encoder Input Encoder Input Encoder X Input Ground N.. N.. N.. hassis Ground Tech Support: sales@copleycontrols.com, Internet: Page of
7 Pin Nopen N_GND N_ H (Reserved) (N_V+) Nopen Notes:. onnector pinouts for J & J follow N standard DS-0.. s in ( ) are wired-through from J to J and have no other connections on the pc board.. N_GND is connected to on pc board ( signal and power ground) J J J - + F J J J No onnection TxD Output Ground Ground RxD Input No onnection J hassis Ground Motemp [IN] GP Input [IN] GP Input [IN] Enable Input [IN] Output [OUT] HS Input [IN] HS Input [IN] HS Input [IN] Ground 0 Output [OUT] Ground Ground 0 J [IN] HS Input Ground Ground [IN] POS Limit Input [IN] NEG Limit Input [IN0] HS Input [IN] HS Input [OUT] Output [OUT] Output + Vdc Output RS- TxD Output RS- RxD Input Tech Support: sales@copleycontrols.com, Internet: Page of
8 ORDERING GUIDE PRT NUMER TDK-0-0 TDK-K SER-K DESRIPTION Development Kit Development Kit onnector Kit Serial able Kit ME ME Drive onfiguration Software D-ROM Note: Specifications subject to change without notice Version.0_tu 0//00 Tech Support: Internet: Page of
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